A Novel Robust Super-Twisting Nonsingular Terminal Sliding Mode Controller for Permanent Magnet Linear Synchronous Motors

Abstract

For accurate position tracking and robust control of permanent magnet linear synchronous motor (PMLSM) servo systems against various uncertainties, such as parameter change, load disturbance, friction force, and so on, this article proposes a novel super-twisting nonsingular terminal sliding mode control method based on a high-order sliding mode observer. First, a dynamic model of PMLSM with uncertainties is established. A novel nonsingular terminal sliding mode function combined with the super-twisting algorithm is then proposed to design a robust super-twisting nonsingular terminal sliding mode controller, which ensures the system convergence to the equilibrium state within a finite time, effectively eliminating the chattering phenomenon and improving the system robustness. To further improve the system tracking performance and anti-interference ability, a high-order sliding mode observer is used to estimate the system uncertainties. The effective tracking performance and robustness of the proposed control method are validated by the experimental results.